From 41dc133ea5ff98687c6d6f5e7474219d1e5f06fd Mon Sep 17 00:00:00 2001 From: Tommy Persson <tommy.persson@liu.se> Date: Sun, 23 Feb 2025 14:31:51 +0100 Subject: [PATCH] Work on remote --- communication.md | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/communication.md b/communication.md index 3552c01..b10908c 100644 --- a/communication.md +++ b/communication.md @@ -7,12 +7,15 @@ communication channels between agents. We can choose one of the following way to communicate between agents: - Use ROS2. We need to make sure the DDS layer is configured correctly -in this case. All agents will have the same value for ROS_DOMAIN_ID. +in this case. All agents will have the same value for +ROS_DOMAIN_ID. THIS IS NOT CURRENTLY WORKING. +- Use ZENOH. We specify what should be communicated between agents. All agents +have different ROS_DOMAIN_ID or ROS_LOCALHOST_ONLY set to 1. - Use JSON coding of messages and send the encoded message between agents using an MQTT broker. All agents will have different value for ROS_DOMAIN_ID. We want to minimize the regular communication between agents. One -special proble is /tf so we will soon change the code here to use /ns/tf for the tf. +special problem is /tf so we will soon change the code here to use /ns/tf for the tf. ## Issues @@ -25,8 +28,15 @@ special proble is /tf so we will soon change the code here to use /ns/tf for the ## ROS2 +Set the environment variable TST_REMOTE_TRANSPORT to ros. + No topics should be sent regularly between agents using ROS2. +This is currently not implemented. + +## ZENOH + +Set the environment variable TST_REMOTE_TRANSPORT to zenoh. ## JSON and MQTT Broker -- GitLab